Adaptive algorithms for interrogating the viewable scene of an automotive radar

Abstract

A radar system in an autonomous vehicle may be operated in various modes and with various configurations. In one example, the radar system determines a target range for further interrogation. The target range may be determined based on the radar system transmitting a first electromagnetic radiation signal and receiving a first reflected electromagnetic signal radiation signal. After the radar system determines a target range, it transmits a second electromagnetic radiation signal. Additionally, the radar system receives a reflected electromagnetic signal radiation based on the transmission. After receiving the reflected signal, the radar system can process the reflected signal to only have components associated with the target range. The processing of the reflected signal may create a processed signal. Finally, the radar system may determine at least one parameter of a target object based on the processed signal.

What is claimed is: 
     
       1. A method for operating a radar system comprising:
 determining, by a processing unit, a range of interest based on one or more objects detected in an environment; 
 receiving, by the processing unit, a reflected electromagnetic radiation signal that is based on an electromagnetic radiation signal transmitted by a transceiver of a radar unit; and 
 responsive to the receiving of the reflected electromagnetic radiation signal, removing one or more components of the received electromagnetic radiation signal to generate a signal for subsequent processing, wherein the one or more components are associated with one or more ranges outside of the range of interest. 
 
     
     
       2. The method of  claim 1 , wherein the range of interest is associated with a cutoff distance, and wherein the removing of the one or more components of the received electromagnetic signal radiation comprises removing a portion of the received electromagnetic signal radiation received from a distance greater than the cutoff distance. 
     
     
       3. The method of  claim 1 , wherein the range of interest is associated with a threshold distance, and wherein the removing of the one or more components of the received electromagnetic signal radiation comprises removing a portion of the received electromagnetic signal radiation received from a distance less than the threshold distance. 
     
     
       4. The method of  claim 1 , wherein the range of interest corresponds to an angular sector of angles in which a reflecting object is located. 
     
     
       5. The method of  claim 1 , further comprising:
 mixing, by the processing unit, the received electromagnetic radiation signal with the transmitted electromagnetic radiation signal to generate a beat pattern; and 
 determining a reflecting object in the range of interest based on the generated beat pattern. 
 
     
     
       6. The method of  claim 1 , wherein the electromagnetic radiation signal comprises a signal according to a frequency modulated continuous wave (FMCW) operating mode of the radar unit. 
     
     
       7. The method of  claim 1 , wherein the electromagnetic radiation signal comprises a signal according to a pulsed operating mode of the radar unit. 
     
     
       8. The method of  claim 1 , wherein the electromagnetic radiation signal comprises a signal according to a stepped frequency operating mode of the radar unit. 
     
     
       9. The method of  claim 1 , wherein the electromagnetic radiation signal comprises a signal according to a synthetic aperture radar operating mode. 
     
     
       10. The method of  claim 1 , wherein the receiving is performed with a plurality of antennas forming an array. 
     
     
       11. The method of  claim 1 , wherein the removing of the one or more components comprises removing the one or more components based on a frequency component of the reflected electromagnetic signal, wherein the one or more components are removed based on: (i) the frequency component of a corresponding portion of the reflected electromagnetic signal, (ii) a frequency component of a portion of the transmitted electromagnetic radiation signal, and (iii) a time delay. 
     
     
       12. The method of  claim 1 , wherein the radar unit is mounted on a vehicle. 
     
     
       13. The method of  claim 1 , further comprising an analog to digital converter, and wherein the processing unit is further configured to remove the one or more components before the received reflected electromagnetic signal is digitized by an analog to digital converter. 
     
     
       14. The method of  claim 1 , further comprising:
 determining, by processing the signal, at least one parameter of a target object in the range of interest, wherein the at least one parameter comprises at least one of a distance and an angle to the target object. 
 
     
     
       15. The method of  claim 1 , further comprising:
 determining, by the processing unit, the range of interest. 
 
     
     
       16. The method of  claim 1 , further comprising:
 detecting the one or more objects based on sensor data from a lidar or a camera. 
 
     
     
       17. The method of  claim 1 , wherein removing one or more components of the received electromagnetic radiation signal to generate the signal for subsequent processing comprises:
 removing the one or more components using a narrow band filter configured based on the range of interest, wherein the narrow band filter removes the one or more components before digitization of the signal by an analog to digital converter (ADC). 
 
     
     
       18. The method of  claim 1 , wherein the one or more objects includes a first object and a second object, and
 wherein determining the range of interest comprises: 
 determining the range of interest such that the range of interest includes the first object and excludes the second object. 
 
     
     
       19. A radar system comprising:
 an antenna system configured to transmit and receive electromagnetic radiation; 
 a transceiver configured to cause the antenna system to:
 transmit an electromagnetic radiation signal; 
 receive a reflected electromagnetic signal radiation based on the transmitted electromagnetic radiation signal; and 
 
 a processing unit configured to:
 determine a range of interest based on one or more objects detected in an environment; 
 receive the reflected electromagnetic radiation signal that is based on the electromagnetic radiation signal transmitted by the antenna system; and 
 remove one or more components of the received electromagnetic radiation signal to generate a signal for subsequent processing, wherein the one or more components are associated with one or more ranges outside of the range of interest. 
 
 
     
     
       20. A vehicle system comprising:
 a radar system comprising: 
 an antenna system configured to transmit and receive electromagnetic radiation; 
 a transceiver configured to cause the antenna system to:
 transmit an electromagnetic radiation signal; 
 receive a reflected electromagnetic signal radiation based on the transmitted electromagnetic radiation signal; and 
 
 a processing unit configured to:
 determine a range of interest based on one or more objects detected in an environment; 
 receive the reflected electromagnetic radiation signal that is based on the electromagnetic radiation signal transmitted by the antenna system; and 
 remove one or more components of the received electromagnetic radiation signal to generate a signal for subsequent processing, wherein the one or more components are associated with one or more ranges outside of the range of interest.